U.S. patent application number 15/736745 was filed with the patent office on 2018-07-05 for agricultural operation monitoring apparatus, systems and methods.
The applicant listed for this patent is The Climate Corporation. Invention is credited to Dale KOCH, Tracy LEMAN, Matt MORGAN, Ian RADTKE, Mike STRNAD, Paul WILDERMUTH.
Application Number | 20180184581 15/736745 |
Document ID | / |
Family ID | 57546069 |
Filed Date | 2018-07-05 |
United States Patent
Application |
20180184581 |
Kind Code |
A1 |
MORGAN; Matt ; et
al. |
July 5, 2018 |
AGRICULTURAL OPERATION MONITORING APPARATUS, SYSTEMS AND
METHODS
Abstract
Systems, methods and apparatus are provided for monitoring soil
properties including soil moisture, soil electrical conductivity
and soil temperature. Embodiments include a soil reflectivity
sensor and/or a soil temperature sensor for measuring moisture and
temperature.
Inventors: |
MORGAN; Matt; (Peoria,
IL) ; STRNAD; Mike; (Delavan, IL) ; KOCH;
Dale; (Tremont, IL) ; LEMAN; Tracy; (Eureka,
IL) ; WILDERMUTH; Paul; (Tremont, IL) ;
RADTKE; Ian; (Washington, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
The Climate Corporation |
San Francisco |
CA |
US |
|
|
Family ID: |
57546069 |
Appl. No.: |
15/736745 |
Filed: |
June 15, 2016 |
PCT Filed: |
June 15, 2016 |
PCT NO: |
PCT/US16/37702 |
371 Date: |
December 14, 2017 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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62175920 |
Jun 15, 2015 |
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62220576 |
Sep 18, 2015 |
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62280085 |
Jan 18, 2016 |
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62279995 |
Jan 18, 2016 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01N 21/3554 20130101;
G01N 33/24 20130101; G01N 21/4738 20130101; A01C 5/068 20130101;
G01N 2033/245 20130101; G01N 33/246 20130101; A01B 79/005 20130101;
A01C 7/203 20130101; G06F 17/18 20130101; A01C 21/007 20130101 |
International
Class: |
A01C 21/00 20060101
A01C021/00; G06F 17/18 20060101 G06F017/18; A01C 7/20 20060101
A01C007/20; A01C 5/06 20060101 A01C005/06; A01B 79/00 20060101
A01B079/00; G01N 21/47 20060101 G01N021/47; G01N 33/24 20060101
G01N033/24 |
Claims
1. A control and monitoring system for an agricultural implement
having a plurality of row units, comprising: a reflectivity sensor
generating a reflectivity signal related to reflectivity of soil
worked by at least one of said row units; and a processor in data
communication with said reflectivity sensor, said processor
configured to calculate a statistical variation in said
reflectivity signal.
2. The control and monitoring system of claim 1 wherein said
reflectivity sensors are disposed on a soil engaging component
disposed within a seed trench formed by an opening system of the
row unit.
3. The control and monitoring system of claim 2 wherein said soil
engaging component is disposed rearward of seeds being deposited in
said seed trench by the row unit.
4. The control and monitoring system of claim 3 wherein said soil
engaging component is a seed firmer.
5. The control and monitoring system of claim 2 wherein said soil
engaging component is a shank extension disposed forward of seeds
being deposited in the seed trench by the row unit.
6. The control and monitoring system of claim 2 wherein said soil
engaging component is a trailing member secured to a shank of the
row unit forward of seeds being deposited in the seed trench by the
row unit.
7. The control and monitoring system of claim 2 wherein said soil
engaging component is a trailing member secured to a shank
extension attached to a shank of the row unit forward of seeds
being deposited in the seed trench by the row unit.
8. The control and monitoring system of claim 1 further comprising:
a camera disposed to capture images of a seed trench opened by an
opening assembly of the row unit; and a monitoring device
displaying said captured images.
9. The control and monitoring system of claim 8 wherein said camera
is disposed on a shank extension forward of seeds being deposited
by the row unit.
10. The control and monitoring system of claim 9 wherein said
reflectivity sensors are disposed on a soil engaging component
disposed within said seed trench.
11. The control and monitoring system of claim 10 wherein said soil
engaging component is disposed rearward of seeds being deposited in
said seed trench by the row unit.
12. The control and monitoring system of claim 11 wherein said soil
engaging component is a seed firmer.
13. The control and monitoring system of claim 10 wherein said soil
engaging component is a shank extension disposed forward of seeds
being deposited in the seed trench by the row unit.
14. The control and monitoring system of claim 10 wherein said soil
engaging component is a trailing member secured to a shank of the
row unit forward of seeds being deposited in the seed trench by the
row unit.
15. The control and monitoring system of claim 10 wherein said soil
engaging component is a trailing member secured to a shank
extension attached to a shank of the row unit forward of seeds
being deposited in the seed trench by the row unit.
16. The control and monitoring system of claim 2 wherein said
reflectivity sensors are disposed on a bottom side of said soil
engaging component to measure soil reflectivity at a bottom of said
seed trench.
17. The control and monitoring system of claim 2 wherein said
reflectivity sensors are disposed on a side of said soil engaging
component to measure soil reflectivity on a sidewall of said seed
trench.
18. The control and monitoring system of claim 10 wherein said
reflectivity sensors are disposed on a bottom side of said soil
engaging component to measure soil reflectivity at a bottom of said
seed trench.
19. The control and monitoring system of claim 10 wherein said
reflectivity sensors are disposed on a side of said soil engaging
component to measure soil reflectivity on a sidewall of said seed
trench.
20. The control and monitoring system of claim 17 wherein said soil
engaging component includes a biasing member to bias said soil
engaging member toward said sidewall of said seed trench.
21. The control and monitoring system of claim 19 wherein said soil
engaging component includes a biasing member to bias said soil
engaging member toward said sidewall of said seed trench.
22. The control and monitoring system of claim 8 further comprising
a global positioning receiver in data communication with said
monitoring device, wherein said monitor device is configured to
associate said generated reflectivity signal with a position
reported by said global positioning receiver.
Description
BACKGROUND
[0001] In recent years, the availability of advanced
location-specific agricultural application and measurement systems
(used in so-called "precision farming" practices) has increased
grower interest in determining spatial variations in soil
properties and in varying input application variables (e.g.,
planting depth) in light of such variations. However, the available
mechanisms for measuring properties such as temperature are either
not effectively locally made throughout the field or are not made
at the same time as an input (e.g. planting) operation.
[0002] Thus, there is a need in the art for a method for monitoring
soil properties during an agricultural input application.
BRIEF DESCRIPTION OF THE DRAWINGS
[0003] FIG. 1 is a top view of an embodiment of an agricultural
planter.
[0004] FIG. 2 is a side elevation view of an embodiment of a
planter row unit.
[0005] FIG. 3 schematically illustrates an embodiment of a soil
monitoring system.
[0006] FIG. 4A is a side elevation view of an embodiment of a seed
firmer having a plurality of firmer-mounted sensors.
[0007] FIG. 4B is a plan view of the seed firmer of FIG. 4A.
[0008] FIG. 4C is a rear elevation view of the seed firmer of FIG.
4A.
[0009] FIG. 5 illustrates an embodiment of a graphical display
including a numerical representation of reflectivity variation.
[0010] FIG. 6 illustrates an embodiment of a graphical display
including a spatial map of reflectivity variation.
[0011] FIG. 7 illustrates a row unit incorporating an embodiment of
an image capture apparatus.
[0012] FIG. 8 is a side elevation view of an embodiment of a shank
extension incorporating sensors and an image capture apparatus.
[0013] FIG. 9 is an elevation view of the shank extension of FIG. 8
showing a biasing member.
[0014] FIG. 10 is a top partial plan view of the shank extension of
FIG. 8 showing an alternative embodiment of a biasing member.
[0015] FIG. 11 is a side elevation view of a trailing member with
sensors in combination with a shank extension with an image capture
apparatus.
[0016] FIG. 12 illustrates an embodiment of a graphical display
including an image captured by the image capture apparatus of FIG.
7, 8 or 11.
[0017] FIG. 13 illustrates an embodiment of a row image selection
process.
DESCRIPTION
Depth Control and Soil Monitoring Systems
[0018] Referring now to the drawings, wherein like reference
numerals designate identical or corresponding parts throughout the
several views, FIG. 1 illustrates a tractor 5 drawing an
agricultural implement, e.g., a planter 10, comprising a toolbar 14
operatively supporting multiple row units 200. An implement monitor
50 preferably including a central processing unit ("CPU"), memory
and graphical user interface ("GUI") (e.g., a touch-screen
interface) is preferably located in the cab of the tractor 5. A
global positioning system ("GPS") receiver 52 is preferably mounted
to the tractor 5.
[0019] Turing to FIG. 2, an embodiment is illustrated in which the
row unit 200 is a planter row unit. The row unit 200 is preferably
pivotally connected to the toolbar 14 by a parallel linkage 216. An
actuator 218 is preferably disposed to apply lift and/or downforce
on the row unit 200. A solenoid valve 390 is preferably in fluid
communication with the actuator 218 for modifying the lift and/or
downforce applied by the actuator. An opening system 234 preferably
includes two opening discs 244 rollingly mounted to a
downwardly-extending shank 254 and disposed to open a v-shaped
trench 38 in the soil surface 40. A pair of gauge wheels 248 is
pivotally supported by a pair of corresponding gauge wheel arms
260; the height of the gauge wheels 248 relative to the opening
discs 244 sets the depth of the trench 38. A depth adjustment
rocker 268 limits the upward travel of the gauge wheel arms 260 and
thus the upward travel of the gauge wheels 248. A depth adjustment
actuator 380 is preferably configured to modify a position of the
depth adjustment rocker 268 and thus the height of the gauge wheels
248. The actuator 380 is preferably a linear actuator mounted to
the row unit 200 and pivotally coupled to an upper end of the
rocker 268. In some embodiments the depth adjustment actuator 380
comprises a device such as that disclosed in International Patent
Application No. PCT/US2012/035585 ("the '585 application"), the
disclosure of which is hereby incorporated herein by reference. An
encoder 382 is preferably configured to generate a signal related
to the linear extension of the actuator 380; it should be
appreciated that the linear extension of the actuator 380 is
related to the depth of the trench 38 when the gauge wheel arms 260
are in contact with the rocker 268. A downforce sensor 392 is
preferably configured to generate a signal related to the amount of
force imposed by the gauge wheels 248 on the soil surface 40; in
some embodiments the downforce sensor 392 comprises an instrumented
pin about which the rocker 268 is pivotally coupled to the row unit
200, such as those instrumented pins disclosed in Applicant's U.S.
patent application Ser. No. 12/522,253 (Pub. No. US 2010/0180695),
the disclosure of which is hereby incorporated herein by reference.
Additionally, desired downforce can be achieved by the system and
methods for downforce control disclosed in U.S. Pat. Nos. 9,288,937
and 9,144,189, the disclose of each are hereby incorporated herein
by reference.
[0020] Continuing to refer to FIG. 2, a seed meter 230 such as that
disclosed in Applicant's International Patent Application No.
PCT/US2012/030192, the disclosure of which is hereby incorporated
herein by reference, is preferably disposed to deposit seeds 42
from a hopper 226 into the trench 38, e.g., through a seed tube 232
disposed to guide the seeds toward the trench. In some embodiments,
the meter is powered by an electric drive 315 configured to drive a
seed disc within the seed meter. In other embodiments, the drive
315 may comprise a hydraulic drive configured to drive the seed
disc. A seed sensor 305 (e.g., an optical or electromagnetic seed
sensor configured to generate a signal indicating passage of a
seed) is preferably mounted to the seed tube 232 and disposed to
send light or electromagnetic waves across the path of seeds 42. A
closing system 236 including one or more closing wheels is
pivotally coupled to the row unit 200 and configured to close the
trench 38.
[0021] Turning to FIG. 3, a depth control and soil monitoring
system 300 is schematically illustrated. The monitor 50 is
preferably in data communication with components associated with
each row unit 200 including the drives 315, the seed sensors 305,
the GPS receiver 52, the downforce sensors 392, the downforce
valves 390, the depth adjustment actuator 380, and the depth
actuator encoders 382. In some embodiments, particularly those in
which each seed meter 230 is not driven by an individual drive 315,
the monitor 50 is also preferably in data communication with
clutches 310 configured to selectively operably couple the seed
meter 230 to the drive 315.
[0022] Continuing to refer to FIG. 3, the monitor 50 is preferably
in data communication with a cellular modem 330 or other component
configured to place the monitor 50 in data communication with the
Internet, indicated by reference numeral 335. Via the Internet
connection, the monitor 50 preferably receives data from a weather
data server 340 and a soil data server 345.
[0023] Continuing to refer to FIG. 3, the monitor 50 is also
preferably in data communication with one or more temperature
sensors 360 mounted to the planter 10 and configured to generate a
signal related to the temperature of soil being worked by the
planter row units 200. The monitor 50 is preferably in data
communication with one or more reflectivity sensors 350 mounted to
the planter 10 and configured to generate a signal related to the
reflectivity of soil being worked by the planter row units 200.
[0024] Referring to FIG. 3, the monitor 50 is preferably in data
communication with one or more electrical conductivity sensors 370
mounted to the planter 10 and configured to generate a signal
related to the temperature of soil being worked by the planter row
units 200.
[0025] In some embodiments, a first set of reflectivity sensors
350, temperature sensors 360, and electrical conductivity sensors
370 are mounted to a soil engaging component 400, such as a seed
firmer, disposed to measure reflectivity, temperature and
electrical conductivity, respectively, of soil in the trench 38. In
some embodiments, a second set of reflectivity sensors 350,
temperature sensors 360, and electrical conductivity sensors 370
are mounted to a reference sensor assembly 1800 and disposed to
measure reflectivity, temperature and electrical conductivity,
respectively, of the soil, preferably at a depth different than the
sensors on the seed firmer 400.
[0026] In some embodiments, a subset of the sensors are in data
communication with the monitor 50 via a bus 60 (e.g., a CAN bus).
In some embodiments, the sensors mounted to the seed firmer 400 and
the reference sensor assembly 1800 are likewise in data
communication with the monitor 50 via the bus 60. However, in the
embodiment illustrated in FIG. 3, the sensors mounted to the seed
firmer the sensors mounted to the seed firmer 400 and the reference
sensor assembly 1800 are in data communication with the monitor 50
via a first wireless transmitter 62-1 and a second wireless
transmitter 62-2, respectively. The wireless transmitters 62 at
each row unit are preferably in data communication with a single
wireless receiver 64 which is in turn in data communication with
the monitor 50. The wireless receiver may be mounted to the toolbar
14 or in the cab of the tractor 5.
Soil Monitoring, Seed Monitoring and Seed Firming Apparatus
[0027] Turning to FIGS. 4A-4C, an embodiment of the soil engaging
component comprising a seed firmer 400 is illustrated having a
plurality of sensors for sensing soil characteristics. The seed
firmer 400 preferably includes a flexible portion 410 mounted to
the shank 254 and/or the seed tube 232 by a bracket 415. In some
embodiments, the bracket 415 is similar to one of the bracket
embodiments disclosed in U.S. Pat. No. 6,918,342, incorporated by
reference herein. The seed firmer preferably includes a firmer body
490 disposed and configured to be received at least partially
within v-shaped trench 38 and firm seeds 42 into the bottom of the
trench. When the seed firmer 400 is lowered into the trench 38, the
flexible portion 410 preferably urges the firmer body 490 into
resilient engagement with the trench. In some embodiments the
flexible portion 410 preferably includes an external or internal
reinforcement as disclosed in PCT/US2013/066652, incorporated by
reference herein. In some embodiments the firmer body 490 includes
a removable portion 492; the removable portion 492 preferably
slides into locking engagement with the remainder of the firmer
body. Alternatively, the removable portion 492 can be attached to
firmer body 490 with a removable fastener, such as a screw. The
firmer body 490 (preferably including the portion of the firmer
body engaging the soil, which in some embodiments comprises the
removable portion 492) is preferably made of a material (or has an
outer surface or coating) having hydrophobic and/or anti-stick
properties, e.g. having a Teflon graphite coating and/or comprising
a polymer having a hydrophobic material (e.g., silicone oil or
polyether-ether-ketone) impregnated therein. Alternatively, the
sensors can be disposed on the side of seed firmer 400 (not
shown).
[0028] The seed firmer 400 preferably includes a plurality of
reflectivity sensors 350a, 350b. Each reflectivity sensor 350 is
preferably disposed and configured to measure reflectivity of soil;
in a preferred embodiment, the reflectivity sensor 350 is disposed
to measure soil in the trench 38, and preferably at the bottom of
the trench. The reflectivity sensor 350 preferably includes a lens
disposed in the bottom of the firmer body 490 and disposed to
engage the soil at the bottom of the trench 38. In some embodiments
the reflectivity sensor 350 comprises one of the embodiments
disclosed in U.S. Pat. No. 8,204,689 and/or WO2014/186810, both of
which are incorporated by reference herein. In various embodiments,
the reflectivity sensor 350 is configured to measure reflectivity
in the visible range (e.g., 400 and/or 600 nanometers), in the
near-infrared range (e.g., 940 nanometers) and/or elsewhere in the
infrared range.
[0029] The seed firmer 400 also preferably includes a capacitive
moisture sensor 351 disposed and configured to measure capacitance
moisture of the soil in the seed trench 38, and preferably at the
bottom of trench 38.
[0030] The seed firmer 400 also preferably includes an electronic
tensiometer sensor 352 disposed and configured to measure soil
moisture tension of the soil in the seed trench 38, and preferably
at the bottom of trench 38.
[0031] Alternatively, soil moisture tension can be extrapolated
from capacitive moisture measurements or from reflectivity
measurements (such as at 1450 nm). This can be done using a soil
water characteristic curve based on the soil type.
[0032] The seed firmer 400 preferably includes a temperature sensor
360. The temperature sensor 360 is preferably disposed and
configured to measure temperature of soil; in a preferred
embodiment, the temperature sensor is disposed to measure soil in
the trench 38, preferably at or adjacent the bottom of the trench
38. The temperature sensor 360 preferably includes soil-engaging
ears 364, 366 disposed to slidingly engage each side of the trench
38 as the planter traverses the field. The ears 364, 366 preferably
engage the trench 38 at or adjacent to the bottom of the trench.
The ears 364, 366 are preferably made of a thermally conductive
material such as copper. The ears 364 are preferably fixed to and
in thermal communication with a central portion 362 housed within
the firmer body 490. The central portion 362 preferably comprises a
thermally conductive material such as copper; in some embodiments
the central portion 362 comprises a hollow copper rod. The central
portion 362 is preferably in thermal communication with a
thermocouple fixed to the central portion.
[0033] The seed firmer preferably includes a plurality of
electrical conductivity sensors 370r, 370f. Each electrical
conductivity sensor 370 is preferably disposed and configured to
measure electrical conductivity of soil; in a preferred embodiment,
the electrical conductivity sensor is disposed to measure
electrical conductivity of soil in the trench 38, preferably at or
adjacent the bottom of the trench 38. The electrical conductivity
sensor 370 preferably includes soil-engaging ears 374, 376 disposed
to slidingly engage each side of the trench 38 as the planter
traverses the field. The ears 374, 376 preferably engage the trench
38 at or adjacent to the bottom of the trench. The ears 374, 376
are preferably made of an electrically conductive material such as
copper. The ears 374 are preferably fixed to and in electrical
communication with a central portion 372 housed within the firmer
body 490. The central portion 372 preferably comprises an
electrically conductive material such as copper; in some
embodiments the central portion 372 comprises a copper rod. The
central portion 372 is preferably in electrical communication with
an electrical lead fixed to the central portion. The electrical
conductivity sensor can measure the electrical conductivity within
a trench by measuring the electrical current between soil-engaging
ears 374 and 376.
[0034] Referring to FIG. 4B, in some embodiments the system 300
measures electrical conductivity of soil adjacent the trench 38 by
measuring an electrical potential between the forward electrical
conductivity sensor 370f and the rearward electrical conductivity
sensor 370r.
[0035] Referring to FIG. 4C, in some embodiments the system 300
measures electrical conductivity of soil between two row units 200
having a first seed firmer 400-1 and a second seed firmer 400-2,
respectively, by measuring an electrical potential between an
electrical conductivity sensor on the first seed firmer 400-1 and
an electrical conductivity sensor on the second seed firmer
400-2.
[0036] The reflectivity sensors 350, the capacitive moisture
sensors 351, the electronic tensiometer sensors 352, the
temperature sensors 360, and the electrical conductivity sensors
370 (collectively, the "firmer-mounted sensors") are preferably in
data communication with the monitor 50. In some embodiments, the
firmer-mounted sensors are in data communication with the monitor
50 via a transceiver (e.g., a CAN transceiver) and the bus 60. In
other embodiments, the firmer-mounted sensors are in data
communication with the monitor 50 via wireless transmitter 62-1
(preferably mounted to the seed firmer) and wireless receiver 64.
In some embodiments, the firmer-mounted sensors are in electrical
communication with the wireless transmitter 62-1 (or the
transceiver) via a multi-pin connector comprising a male coupler
472 and a female coupler 474. In firmer body embodiments having a
removable portion 492, the male coupler 472 is preferably mounted
to the removable portion and the female coupler 474 is preferably
mounted to the remainder of the firmer body 190; the couplers 472,
474 are preferably disposed such that the couplers engage
electrically as the removable portion is slidingly mounted to the
firmer body.
[0037] It should be appreciated that the sensor embodiment of FIGS.
4A-4C may be mounted to and used in conjunction with implements
other than seed planters such as tillage tools. For example, the
seed firmer could be disposed to contact soil in a trench opened by
(or soil surface otherwise passed over by) a tillage implement such
as a disc harrow or soil ripper. On such equipment, the sensors
could be mounted on a part of the equipment that contacts soil or
on any extension that is connected to a part of the equipment and
contacts soil. It should be appreciated that in some such
embodiments, the seed firmer would not contact planted seed but
would still measure and report soil characteristics as otherwise
disclosed herein.
Data Processing and Display
[0038] Referring to FIG. 5, the implement monitor 50 may display a
soil data summary 500 displaying a representation (e.g., numerical
or legend-based representation) of soil data gathered using the
seed firmer 400 and associated sensors. The soil data may be
displayed in windows such as a soil moisture window 510 and soil
temperature window 520. A depth setting window 530 may additionally
show the current depth setting of the row units of the implement,
e.g., the depth at which the seed firmers 400 are making their
respective measurements. A reflectivity variation window 550 may
show a statistical reflectivity variation during a threshold period
(e.g., the prior 30 seconds) or over a threshold distance traveled
by the implement (e.g., the preceding 30 feet). The statistical
reflectivity variation may comprise any function of the
reflectivity signal (e.g., generated by each reflectivity sensor
350) such as the variance or standard deviation of the reflectivity
signal. The monitor 50 may additionally display a representation of
a predicted agronomic result (e.g., percentage of plants
successfully emerged) based on the reflectivity variation value.
For example, values of reflectivity emergence may be used to look
up a predicted plant emergence value in an empirically-generated
database (e.g., stored in memory of the implement monitor 50 or
stored in and updated on a remote server in data communication with
the implement monitor) associating reflectivity values with
predicted plant emergence. Referring to FIG. 6, the reflectivity
variation may be displayed spatially on a spatial reflectivity
variation map 600 displayed (e.g., on the implement monitor 50 or
remote computer). Areas of the field may be associated with
graphical representations 622, 624, 626 (e.g., pixels or blocks)
associated by color or pattern with subsets 612, 614, 616,
respectively of a legend 610. The subsets may correspond to
numerical ranges of reflectivity variation. The subsets may be
named according to an agronomic indication empirically associated
with the range of reflectivity variation. For example, a
reflectivity variation below a first threshold at which no
emergence failure is predicted may be labeled "Good"; a
reflectivity variation between the first threshold and a second
threshold at which predicted emergence failure is agronomically
unacceptable (e.g., is likely to affect yield by more than a yield
threshold) may be labeled "Acceptable"` a reflectivity variation
above the second threshold may be labeled "Poor emergence
predicted".
[0039] Each window in the soil data summary 500 preferably shows an
average value for all row units ("rows") at which the measurement
is made and optionally the row unit for which the value is highest
and/or lowest along with the value associated with such row unit or
row units. Selecting (e.g., clicking or tapping) each window
preferably shows the individual (row-by-row) values of the data
associated with the window for each of the row units at which the
measurement is made.
Image Capture
[0040] Turning to FIG. 7, an image capture apparatus 700 is
illustrated incorporating a camera 750 mounted to an extension 710.
In one embodiment, extension 710 can be a guard and/or scraper
(also known as a frog), which is used to keep opening discs 244
spread and/or to clean dirt from opening disc 244. The extension
710 may be removably mounted to a portion of the row unit such as a
lower end of the shank 254 or to bracket 415. The camera 750 is
preferably oriented to capture an image of the trench, and may be
oriented rearward (e.g., opposite the direction of travel) and
disposed at least partially inside the trench 38 (e.g., at least
partially below the surface. It should be appreciated that the
camera 750 is mounted forward of the closing system 236 and
rearward of a leading edge of the opening discs 244 (e.g., at least
partially laterally between the opening discs). In embodiments in
which the camera 750 is adjacent to the opening discs 244, one or
more wear-resistant guards 712 (comprised, e.g., of tungsten
carbide or other wear-resistant material) is preferably mounted to
either side of the extension 710 and preferably extend laterally
outward such that their laterally terminal ends are disposed
between the camera 750 and the opening discs 244 to protect the
camera from contact with the opening discs. Alternatively,
wear-resistant guards 712 can be mounted on either side of camera
750 on extension 710 and oriented parallel to the direction of
travel and have a thickness such that camera 750 is not in contact
with opening discs 244 or trench 38. A light source 740 (e.g., LED)
is preferably mounted to the extension 710 and preferably disposed
to illuminate the trench 38 and/or soil surface 40 to improve the
quality of image capture. The image or images captured by the
camera 750 preferably include the sidewalls of the trench, the
bottom of the trench and/or the upper surface of the soil surface
40. The camera may be disposed forward of the seed firmer 400 as
illustrated and may be disposed to capture an image of seeds. The
camera may be a video camera and/or still image camera and is
preferably in data communication with the implement monitor 50 for
transmission of images to the implement monitor for display to the
user and/or association with a location (e.g., geo-referenced
location) in the field at which the images are captured and for
storage in memory of the implement monitor and/or on a remote
server.
[0041] In an alternative embodiment as shown in FIG. 8, any of the
sensors (e.g., 350, 351, 352, 360, and/or 370) described as being
disposed on the seed firmer type soil engaging component 400 may be
disposed on soil engaging component comprising a shank extension
710. The sensors can be mounted on the side of the extension 710 to
be in contact with the sidewalls of trench 38, or the sensors can
be mounted on the bottom of the extension 710 to be in contact with
the bottom of trench 38. It should be appreciated that pairs of the
multiple sensors 350, 351, 352, 360, 370 may be disposed vertically
on the extension 710 to provide measurements at different depths in
the seed trench 38. The multiple sensors may be used on extension
710 in conjunction with camera 750 or without the camera 750.
[0042] The benefit of disposing the sensors on extension 710 is
that signal variation generated by a seed as firmer 400 passes over
the seed does not need to be subtracted out of the signal. This
simplifies the processing of the signal especially when seeds are
planted close together, such as with soybeans. Also, the sidewalls
of trench 38 are smoother than the bottom of trench 38, which
results in less signal variability, which also simplifies the
processing of the signal. Also, when sensors are mounted on
extension 710, a greater force can be applied so that the sensor
has an increased soil contact for increased measurement. As can be
appreciated, the firmer 400 has a maximum force that can be applied
based on seed to soil contact in given soil conditions so that the
seed is planted at a desired depth with desired seed to soil
contact and/or to prevent movement of seeds. Also, extension 710
can better protect the sensor and/or camera from rocks during
planting as compared to firmer 400.
[0043] The extension 710 may include a biasing member 760 disposed
to bias the extension in contact with the sidewalls of the trench
38 to provide a more consistent engagement with the soil and thus a
more uniform signal by minimizing side-to-side movement of the
extension 710 within the trench 38. Examples of various types of
biasing members 760 may include, but are not limited to, wing bump,
such as shown in FIG. 9, or a whisker, wishbone or lever spring,
such as shown in FIG. 10. The biasing member 760 can also be
disposed between extension 710 and camera 750 and wear-resistance
guards 712 to keep the wear-resistance guards 712 in contact with
trench 38 and to keep the camera lens clean from accumulating dirt.
In these embodiments, extension 710 acts as a stop for the sensor
and/or camera. Alternatively, biasing members 760 can be disposed
on the side of the seed firmer 400 (not shown).
[0044] It should be appreciated that if the extension 710 is a
guard/scraper, the frictional forces between opening discs 244 and
extension 710 can generate heat due to friction, which can cause
the extension to approach 150.degree. C. Accordingly, thermal
insulation may be desirable between the sensors 350, 351, 352, 360,
370 and the body of the extension 710 to minimize thermal transfer
between the body of the extension and the sensors disposed therein
or thereon.
[0045] In yet another alternative embodiment, as shown in FIG. 11,
the sensors 350, 351, 352, 360, 370 may be disposed on the bottom
or sidewalls of a soil engaging component comprising a trailing
member 770 secured to the shank 254 or to the shank extension 710
by a resilient arm 772 such that it is below and rearward of the
shank 254 or extension 710 but forward of the trajectory of the
seeds being deposited by the seed tube. Alternatively, the
resilient arm 772 can be a living hinge (not shown). The resilient
arm 772 biases the trailing member 770 into the bottom of the seed
trench 38 to ensure consistent and uniform contact with the soil.
Additionally, the trailing member 770 may incorporate any of the
side biasing members 760 as previously described to minimizing
side-to-side movement of the extension 710 within the trench 38 to
provide more consistent engagement with the soil and thus a more
uniform signal. As shown in FIG. 11, the trailing member 770 is
disposed slightly behind opening discs 244 to allow dirt to flow
around the trailing member.
[0046] Turning to FIG. 12, the implement monitor 50 preferably
displays a screen 800 including an image 810 (e.g., video or still
image) including the soil surface 40, residue 43 on the soil
surface, the trench 38 including sidewalls 38r, 381 and trough 38t
thereof, and seeds 42 disposed in the bottom of the trench.
[0047] The screen 800 preferably includes a row identification
window 820 which identifies which row is associated with the
displayed image. Selecting one of the arrows in the row
identification window 820 preferably commands the monitor 50 to
load a new screen including an image associated with another,
different row of the implement (e.g., captured by a second image
capture apparatus associated with that other, different row).
[0048] The screen 800 preferably includes numerical or other
indications of soil or seed data which the monitor 50 may determine
by analyzing one or more images 810 or a portion or portions
thereof.
[0049] Soil data measurement window 830 preferably displays a soil
moisture value associated with the soil in the trench 38. The soil
moisture value may be based upon an image analysis of the image
810, e.g., the portion of the image corresponding to the sidewalls
38r, 38l. Generally, the image 810 may be used to determine a
moisture value by referencing a database correlating image
characteristics (e.g., color, reflectivity) to moisture value. To
aid in determining the moisture value, one or more images may be
captured at one or more wavelengths; the wavelengths may be
selected such that a statistical correlation strength of image
characteristics (or an arithmetic combination of image
characteristics) with moisture at one or more wavelengths is within
a desired range of correlation strength. A wavelength or amplitude
of light waves generated by the light source 740 may also be varied
to improve image quality at selected image capture wavelengths or
to otherwise correspond to the selected image capture wavelengths.
Alternatively, a soil moisture value may be based upon capacitive
moisture from sensor 351 or soil moisture tension from electronic
tensiometer sensor 352. In some implementations, the trench may be
divided into portions having different estimated moistures (e.g.,
the portions of the sidewall 381 above and below the moisture line
38d) and both moistures and/or the depth at which the moisture
value changes (e.g., the depth of moisture line 38d) may be
reported by the screen 800. It should be appreciated that the
moisture values may be mapped spatially using a map similar to the
map shown in FIG. 6. It should be appreciated that a similar method
and approach may be used to determine and report soil data other
than moisture (e.g., soil temperature, soil texture, soil color)
based on one or more captured images.
[0050] Agronomic property window 840 preferably displays an
agronomic property value (e.g., residue density, trench depth,
trench collapse percentage, trench shape) which may be estimated by
analysis of the image 810. For example, a residue density may be
calculated by the steps of (1) calculating a soil surface area
(e.g., by identifying and measuring the area of a soil surface
region identified based on the orientation of the camera and the
depth of the trench, or based on the color of the soil surface),
(2) calculating a residue coverage area by determining an area of
the soil surface region covered by (e.g., by identifying a total
area of the soil surface covered by residue, where residue may be
identified by areas having a color lighter than a constant
threshold or more than a threshold percentage lighter than an
average color of the soil surface region), and (3) dividing the
residue coverage area by the soil surface area.
[0051] Planting criterion window 850 preferably displays a planting
criterion such as seed spacing, seed singulation, or seed
population. The planting criterion may be calculated using a seed
sensor and the algorithms disclosed in U.S. Pat. No. 8,078,367,
incorporated by reference ("the '367 patent"). In some
implementations, algorithms similar to those disclosed in the '367
patent may be used in conjunction with a distance between seeds
calculated with reference to the image 810. For example, the
monitor 50 may (1) identify a plurality of seeds in the image 810
(e.g., by identifying regions of the image having a range of colors
empirically associated with seeds); (2) identify one or more image
distances between adjacent seeds (e.g., by measuring the length of
a line on the image between the centroids of the seeds); (3)
convert the image distances to "real space" distances using a
mathematical and/or empirical relationship between distances
extending along the trench in the image and corresponding distances
extending along the actual trench; (4) calculate a planting
criterion (e.g., seed population, seed spacing, seed singulation)
based on the "real space" distances and/or the image distances.
[0052] Turning to FIG. 13, an exemplary process 900 for selecting a
row image to display on the screen 800 is illustrated. It should be
appreciated that because multiple row units may incorporate an
image capture apparatus, it may be undesirable to simultaneously
display images from all such row units. Instead, at step 905, the
monitor 50 preferably displays successive row images (i.e., still
or video images captured by successive row units) by displaying a
new row image a regular interval (e.g., 10 seconds, 30 seconds, one
minute). For example, a first still image or video stream from a
first image capture apparatus at a first row unit may be displayed
until the expiration of a first regular interval, whereupon a
second still image or video stream from a second image capture
apparatus at a second row unit may be displayed until the
expiration of a second regular interval. Step 910 is preferably
carried out simultaneously with step 905; at step 910 the monitor
50 preferably compares an alarm value at each row unit to an
associated alarm threshold. The alarm value may correspond to a
soil measurement value (e.g., soil moisture, soil temperature soil
texture, soil color, soil reflectivity, soil reflectivity
variation) which may be estimated based on analysis of the row
image or measured by another soil characteristic sensor associated
with the row unit; the alarm value may correspond to an agronomic
property or planting criterion (e.g., residue density, trench
collapse, trench shape, trench depth, seed spacing, seed
singulation, seed population, fertilizer flow rate) which may be
estimated based on analysis of the row image or measured by another
agronomic property sensor (such as a seed sensor, fertilizer flow
rate sensor, trench depth sensor). The alarm threshold may comprise
a selected constant value of the alarm value or a statistical
function (e.g., one or more standard deviation above or below the
mean or average) of the alarm value reported to the monitor during
a preceding period or during operation in a specified area (e.g.,
30 seconds, 30 feet of travel, the entire field associated with the
operation). At step 915, the monitor 50 preferably identifies a row
exhibiting an alarm condition (e.g., at which the alarm value has
exceeded the alarm threshold). At step 920, the monitor 50
preferably displays (e.g., on the screen 800) the row image
captured by the image capture apparatus associated with the row
unit exhibiting the alarm condition. The monitor 50 may optionally
indicate a graphical representation of the alarm condition adjacent
to the row image, e.g. in a separate window indicating the alarm or
by adding an attention-drawing indication (e.g., a red border) to a
window (e.g., soil data measurement window 830, agronomic property
window 840). At step 925, the monitor 50 preferably identifies a
resolution of the alarm condition (e.g., by enabling the user to
cancel the alarm or by determining that the alarm condition is no
longer active) and preferably returns to step 905.
[0053] In one embodiment, the depth of planting can be adjusted
based on soil properties measured by the sensors and/or camera so
that seeds are planted where the desired temperature, moisture,
and/or conductance is found in trench 38. A signal can be sent to
the depth adjustment actuator 380 to modify the position of the
depth adjustment rocker 268 and thus the height of the gauge wheels
248 to place the seed at the desired depth. In one embodiment, an
overall goal is to have the seeds germinate at about the same time.
This leads to greater consistency and crop yield. When certain
seeds germinate before other seeds, the earlier resulting plants
can shade out the later resulting plants to deprive them of needed
sunlight and can disproportionately take up more nutrients from the
surrounding soil, which reduces the yield from the later
germinating seeds. Days to germination is based on a combination of
moisture availability (soil moisture tension) and temperature.
[0054] In one embodiment, moisture can be measured by volumetric
water content or soil moisture tension. The depth can be adjusted
when a variation exceeds a desired threshold. For example, the
depth can be adjusted deeper when the volumetric water content
variation is greater than 5% or when the soil moisture tension
variation is greater than 50 kPa.
[0055] In another embodiment, the depth of planting can be adjusted
until good moisture is obtained. Good moisture is a combination of
absolute and moisture variation. For example, good moisture exists
when there is greater than 15% volumetric water content or soil
moisture tension and less than 5% variation in volumetric water
content or soil moisture tension. A good moisture can be greater
than 95%.
[0056] In another embodiment, a data table can be referenced for
combinations of moisture and temperature and correlated to days to
emergence. The depth can be controlled to have a consistent days to
emergence across the field by moving the depth up or down to
combinations of temperature and moisture that provide consistent
days to emergence. Alternatively the depth can be controlled to
minimize the days to emergence.
[0057] In another embodiment, the depth can be adjusted based on a
combination of current temperature and moisture conditions in the
field and the predicted temperature and moisture delivery from a
weather forecast. This process is described in U.S. Patent
Publication No. 2016/0037709, which is incorporated herein by
reference.
[0058] In any of the foregoing embodiments for depth control for
moisture, the control can be further limited by a minimum threshold
temperature. A minimum threshold temperature (for example
10.degree. C. (50.degree. F.)) can be set so that the planter will
not plant below a depth where the minimum threshold temperature is.
This can be based on the actual measured temperature or by
accounting for the temperature measured at a specific time of day.
Throughout the day, soil is heated by sunshine or cooled during
night time. The minimum threshold temperature can be based on an
average temperature in the soil over a 24 hour period. The
difference between actual temperature at a specific time of day and
average temperature can be calculated and used to determine the
depth for planting so that the temperature is above a minimum
threshold temperature.
[0059] The soil conditions of conductivity, moisture, temperature,
and/or reflectance can be used to directly vary planted population
(seeds/acre), nutrient application (gallons/acre), and/or pesticide
application (lb./acre) based off of zones created by organic
matter, soil moisture, and/or electrical conductivity.
[0060] In another embodiment, any of the sensors or camera can be
adapted to harvest energy to power the sensor and/or wireless
communication. As the sensors are dragged through the soil, the
heat generated by soil contact or the motion of the sensors can be
used as an energy source for the sensors.
[0061] The foregoing description is presented to enable one of
ordinary skill in the art to make and use the invention and is
provided in the context of a patent application and its
requirements. Various modifications to the preferred embodiment of
the apparatus, and the general principles and features of the
system and methods described herein will be readily apparent to
those of skill in the art. Thus, the present invention is not to be
limited to the embodiments of the apparatus, system and methods
described above and illustrated in the drawing figures, but is to
be accorded the widest scope consistent with the spirit and scope
of the appended claims.
* * * * *